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检索条件"机构=Automatic Control and Robotics"

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A fuzzy controller for visual comfort inside a meeting-room

A fuzzy controller for visual comfort inside a meeting-room

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Mediterranean Conference on control and Automation (MED)

作者： J.M. Rodríguez M. Castilla J.D. Álvarez F. Rodríguez M. Berenguel Robotics and Mechatronics Research Group ceiA3 CIESOL Joint Center University of Almería - CIEMAT and Automatic Control La Cañada Almería España

In general, human beings receive most part of information through eyesight. Therefore, light is an essential element which allows people to distinguish the shape, colour and perspective of the environment around them. Moreover, energy efficiency in buildings is a problem that is being widely analysed since energy consumption inside them represents approximately 40% of total world energy consumption. In addition, illumination supposes around 20% of total energy consumption in houses and between 40% and 70% in shops and offices. This paper presents a fuzzy logic controller which allows maintaining visual comfort inside a meeting-room through an efficient use of both natural and artificial lights. In order to probe the effectiveness of the proposed control system, suitable real results obtained in a meeting-room of the CIESOL bioclimatic building are included and commented.

关键词： Visualization Fuzzy logic Indexes Lighting Actuators Buildings

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Generalization of optimal motion trajectories for bipedal walking

Generalization of optimal motion trajectories for bipedal wa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Werner D. Trautmann Dongheui Lee R. Lampariello German Aerospace Center (DLR) Institute of Robotics and Mechatronics Chair of Automatic Control Engineering Department of Electrical and Computer Engineering Technische Universität München (TUM)

control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.

关键词： Trajectory Legged locomotion Machine learning algorithms Cost function Splines (mathematics)

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Sensorless friction-compensated passive lead-through programming for industrial robots

Sensorless friction-compensated passive lead-through program...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Stolt F. B. Carlson M. M. G. Ardakani I. Lundberg A. Robertsson R. Johansson Department of Automatic Control LCCC Linnaeus Center and the eLLIIT Excellence Center at Lund University Sweden Lunds Universitet Lund SE ABB Robotics Västerås Sweden

Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots.

关键词： Robot sensing systems Friction Torque Feedforward neural networks Programming Robot kinematics

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Synchronizing linear heterogeneous networks by output homogenization 19

Synchronizing linear heterogeneous networks by output homoge...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control and Mechatronics Laboratory of Control Theory and Robotics Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogeneous case to a homogeneous synchronization task, for which the solution is well known. The presented method is applicable to networks of completely different agents, even with different dimensions. Additionally, the communication effort is minimized because only the states which are to be synchronized need to be exchanged through the network. An example illustrates the efficiency of the concept. © IFAC.

关键词： Multi agent systems

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Singleton-based two-string inference in recurrent fuzzy systems 19

Singleton-based two-string inference in recurrent fuzzy syst...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Schneider, Moritz Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab. Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

Two-string fuzzy inference consists of two separate inference mechanisms: One conventional fuzzy inference system that processes recommending rules, as well as a mechanism for processing negative rules, which prevent the system from outputting their associated values when their premise is fulfilled. Two-string inference has valuable applications in pattern recognition and control tasks. We present a method rendering two-string inference applicable and computationally feasible in recurrent fuzzy systems, i.e. Mamdami-type fuzzy inference systems equipped with defuzzified state feedback. We show the efficiency of our approach by means of an illustrative example from biological systems modelling and suggest application areas for recurrent two-string fuzzy systems. © IFAC.

关键词： Fuzzy inference

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Modeling, Identification and Joint Impedance control of the Atlas Arms

Modeling, Identification and Joint Impedance Control of the ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Moritz Schappler Jonathan Vorndamme Alexander Todtheide David C. Conner Oskar von Stryk Sami Haddadin Institute of Automatic Control at Leibniz Universitat Hanover TORC Robotics Simulation Systems Optimization and Robotics Group at TU Darmstadt

ISBN: (纸本)9781479968862

Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which could be used in the future to further enhance our controller's performance.

关键词： Robot Arm spiral arm Atlas atlas Atlas Saturn satellites robotic arm disturbance observer Arms CONTACT FORCE Joints Joints Position control Standing Orders

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Robotic agents capable of natural and safe physical interaction with human co-workers

Robotic agents capable of natural and safe physical interact...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M. Beetz G. Bartels A. Albu-Schaffer F. Balint-Benczedi R. Belder D. BeBler S. Haddadin A. Maldonado N. Mansfeld T. Wiedemeyer R. Weitschat J. H. Worch Institute for Artificial Intelligence Bremen Germany Universitat Bremen Bremen Bremen DE German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany Institute of Automatic Control Leibniz Universitat Hannover Hannover Germany

Many future application scenarios of robotics envision robotic agents to be in close physical interaction with humans: On the factory floor, robotic agents shall support their human co-workers with the dull and health threatening parts of their jobs. In their homes, robotic agents shall enable people to stay independent, even if they have disabilities that require physical help in their daily life - a pressing need for our aging societies. A key requirement for such robotic agents is that they are safety-aware, that is, that they know when actions may hurt or threaten humans and actively refrain from performing them. Safe robot control systems are a current research focus in control theory. The control system designs, however, are a bit paranoid: programmers build "software fences" around people, effectively preventing physical interactions. To physically interact in a competent manner robotic agents have to reason about the task context, the human, and her intentions. In this paper, we propose to extend cognition-enabled robot control by introducing humans, physical interaction events, and safe movements as first class objects into the plan language. We show the power of the safety-aware control approach in a real-world scenario with a leading-edge autonomous manipulation platform. Finally, we share our experimental recordings through an online knowledge processing system, and invite the reader to explore the data with queries based on the concepts discussed in this paper.

关键词： Safety Collision avoidance Robot motion Artificial intelligence Cognition

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Persistent Tracking of a Dynamic Target by a Mobile Robot 33

Persistent Tracking of a Dynamic Target by a Mobile Robot

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第三十三届中国控制会议

作者： LIANG Xiao FANG Yongchun YANG Dedong Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Shool of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781479947249

A novel pursuing algorithm, together with a new experiment method, is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game. Specifically, a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system, which greatly improves the maneuverability compared with the traditional method. To keep the target close enough to the vision center of the camera, a control technique is devised according to its kinematic model and Lyapunov theory. By utilizing game theory, the viability set is determined. A tracking controller is employed to guarantee persistent tracking for the dynamic target, where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis. Both simulation and experimental results are provided to illustrate the performance of the controller.

关键词： Nonholonomic Constraint,Camera Tracking,Mobile control,Lyapunov Theory

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Sufficient Conditions for Dynamic Stabilization of 3-State Moore-Greitzer Compressor Model

Sufficient Conditions for Dynamic Stabilization of 3-State M...

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IEEE Annual Conference on Decision and control

作者： A.S. Shiriaev L.B. Freidovich A. Robertsson A. Andersson R. Johansson Department of Engineering Cybernetics Norwegian University of Science & Technology NO-7491 Trondheim Norway Robotics & Control Lab the Department of Applied Physics & Electronics Umea University SE-901 87 Umea Sweden Department of Automatic Control Lund University Lund SE-221 00 Sweden

ISBN: (纸本)9781479978878

We consider the classical 3-state Moore-Greitzer model, which is commonly used for approximating dynamics of deviations of flow and pressure variables in an axial compressor from their nominal steady-state values. The linearization of the nonlinear system is not controllable and, therefore, even local asymptotic stability cannot be achieved using methods of linear control theory. We propose a family of parametrized partial-state feedback control laws and derive sufficient conditions to guarantee global asymptotic stability of the closed-loop system. The stability analysis uses the integral quadratic constraints technique for the case of non-strict frequency condition and novel arguments for characterization of ω-limit sets.

关键词： Closed loop systems Surges Asymptotic stability Adaptive control Differential equations Mathematical model Limit-cycles

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Development and characterization of a dynamic smart structure providing multi-axis force sensing for robotic applications

Development and characterization of a dynamic smart structur...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Davinson Castaño-Cano Mathieu Grossard Arnaud Hubert CEA Interactive Robotics Laboratory Gif-sur-Yvette France Automatic Control and Micro-Mechatronic Systems Department ENSMM-UTBM-CNRS Besancon France Sorbonne Universites Electromechanical Laboratory (LEC) Compiegne CEDEX CS France

When considering force-controlled robots, one key-point to sense the arm-environment interaction is the availability of cheap but sufficiently precise multi-axis force sensors. Even if resonant sensors can overcome some well-known limitations such as noise and drift issues, designing multi-axial resonant force sensor is still non-intuitive due to dynamical nature and multiple modes interaction. This paper presents the development of an integrated three-component force sensing resonant structure, which may be used to simultaneously estimate, all the three components of the force applied on it, for the first time. The sensor principle relies on one single pre-stress composite plate where actuation and measurement are achieved with piezoelectric transducers. Feedback control based on Phase-Locked Loop is used to measure resonances, then estimate the applied forces. Multiple smart design strategies, such as modal superposition, spatial modal filtering using optimal transducers placement and intelligent signal conditioning, limit the electronic treatment and reduce the controller complexity. Experimental comparisons with other calibrated force sensors have shown that the applied force can be efficiently estimated with accuracy, demonstrating the interest of our approach to design integrated and inexpensive multi-axis force sensor solution for robotic applications.

关键词： Force Resonant frequency Force sensors Robot sensing systems Phase locked loops Frequency measurement

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